CN114944816A - Intelligent inspection system applied to photovoltaic module - Google Patents
Intelligent inspection system applied to photovoltaic module Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention provides an intelligent inspection system applied to a photovoltaic module, which comprises an unmanned aerial vehicle, a server, a positioning module, a sampling module, an illumination detection module and a cooperative inspection module, wherein the positioning module, the sampling module and the illumination detection module are all arranged on the unmanned aerial vehicle and are detachably connected with the unmanned aerial vehicle; the positioning module is used for positioning the current position of the unmanned aerial vehicle so as to be matched with the illumination detection module to collect the lighting quantity; the sampling module is used for sampling the photovoltaic assembly to acquire the stain condition of the surface of the photovoltaic assembly; the cooperative inspection module is used for inspecting one side of the ground of the photovoltaic module so as to cooperate with the unmanned aerial vehicle to inspect the same inspection point in multiple angles; the illumination detection module is used for detecting the lighting power generation amount of the current environment. The cooperative inspection module is matched with the sampling module to cooperatively inspect the upper two sides of the photovoltaic assembly, so that the inspection and nursing efficiency of the photovoltaic assembly is effectively improved.
Description
Technical Field
The invention relates to the technical field of inspection of photovoltaic power plants, in particular to an intelligent inspection system applied to photovoltaic modules.
Background
The existing photovoltaic module inspection technology mainly adopts an artificial inspection mode and an unmanned aerial vehicle inspection mode. The manual inspection mode consumes manpower and material resources, is low in inspection efficiency, and hardly meets the requirements of a photovoltaic power station. Unmanned aerial vehicle patrols and examines and easily receive interference, use cost height on detecting the precision, still need establish the formation of image database, is difficult to satisfy photovoltaic power plant's actual demand. Meanwhile, the distributed photovoltaic power generation system is a distributed power generation system, the problem of overhigh labor cost exists when the distributed photovoltaic power generation system is detected, and the unmanned aerial vehicle inspection is not suitable for the distributed photovoltaic power generation system, so that the problem of fault detection of photovoltaic components of the distributed photovoltaic power generation system is obvious.
For example, the CN108449050B prior art discloses an intelligent inspection method for photovoltaic modules applied to a photovoltaic power generation system, the number of photovoltaic modules of a photovoltaic power station and a distributed photovoltaic power generation system is huge, the system structure is complex, the damage and aging of a single photovoltaic module and the shielding problem of the photovoltaic module will affect the power supply quality of the whole photovoltaic panel, and even the MPPT point of the whole photovoltaic power station will be shifted due to the damage, aging and shielding problems of some photovoltaic modules. Meanwhile, bird droppings, dust and damage can be accumulated on the photovoltaic module, a hot plate effect can be caused, series mismatch is caused, the power generation efficiency of the module is reduced, the module can be seriously damaged, and a fire disaster is caused.
Another typical unmanned aerial vehicle inspection system based on a photovoltaic power station and an inspection method thereof disclosed in the prior art of CN114115361A, along with the application of an unmanned aerial vehicle in detection of a photovoltaic power station, compared with a thermal imager held by a person, the detection efficiency is greatly improved, but the workload for manually planning a route and manually identifying the defects is heavy, and the problem of failure of human detection also exists. Because photovoltaic modules in photovoltaic electricity are huge in number and are distributed in a plurality of pieces of regions, the integral flying distance is increased, and the flying detection difficulty is increased. Plain power stations are relatively easy to plan detection routes, mountain photovoltaic power stations basically fly manually, and the danger of airplane signal loss exists.
The invention aims to solve the problems that the inspection efficiency is low, the barrier shielding cannot be identified, the interaction performance is poor, the inspection route cannot be planned, signals are easy to lose and the like in the field.
Disclosure of Invention
The invention aims to provide an intelligent inspection system applied to a photovoltaic module aiming at the defects.
The invention adopts the following technical scheme:
an intelligent inspection system applied to a photovoltaic module comprises an unmanned aerial vehicle and a server, and further comprises a positioning module, a sampling module, an illumination detection module and a cooperative inspection module, wherein the server is respectively connected with the positioning module, the sampling module, the illumination detection module, the cooperative inspection module and the unmanned aerial vehicle; the positioning module, the sampling module and the illumination detection module are all arranged on the unmanned aerial vehicle and are detachably connected with the unmanned aerial vehicle;
the positioning module is used for positioning the current position of the unmanned aerial vehicle so as to be matched with the illumination detection module to collect the lighting quantity;
the sampling module is used for sampling the photovoltaic assembly to acquire the stain condition on the surface of the photovoltaic assembly;
the cooperative inspection module is used for inspecting one side of the ground of the photovoltaic module so as to cooperate with the unmanned aerial vehicle to inspect the same inspection point at multiple angles;
the illumination detection module is used for detecting the lighting power generation amount of the current environment so as to determine the power generation efficiency of each photovoltaic module;
the illumination detection module comprises an illumination acquisition unit and a power generation monitoring unit, and the power generation monitoring unit is used for monitoring the power generation efficiency of each photovoltaic module at each position; the illumination acquisition unit detects the lighting power generation amount of the current environment;
the illumination acquisition unit comprises a supporting seat, a photovoltaic test board, an adjusting component and a power parameter tester, wherein the supporting seat is used for supporting the photovoltaic test and the adjusting component; the photovoltaic test board is used for testing the lighting power generation amount of the current environment so as to determine the power generation Loss index Loss of the current position; the power parameter tester calculates the power generation efficiency of the photovoltaic test board;
wherein the power Generation index Generation of the photovoltaic test panel is calculated according to the following formula:
in the formula, P is the maximum output electric power of the photovoltaic test board; p out Is the irradiance; k is the area of the photovoltaic test board; t is S Is the real-time temperature of the photovoltaic test board; t is 0 The rated working temperature of the photovoltaic test board; convert is a power temperature coefficient of the photovoltaic test board, and the value of the coefficient is determined according to intrinsic parameters of the photovoltaic test board;
acquiring the power generation efficiency Q of the photovoltaic module of the position of the unmanned aerial vehicle of the power generation monitoring unit, and comparing the power generation efficiency Q with the power generation index to obtain the following characteristics:
Q＜D
wherein D is a monitoring threshold, wherein the monitoring threshold D is calculated according to the following formula:
D＝a·Generation+b
wherein a is the area conversion base number, and the value of the area conversion base number is related to the area ratio of the photovoltaic module to the photovoltaic test plate; b is an environmental interference factor, and the value of the environmental interference factor is related to the direct angle between the photovoltaic test board and the sun;
if the power generation efficiency Q of the photovoltaic module at the position of the unmanned aerial vehicle is smaller than a monitoring threshold value D, triggering abnormal early warning; when abnormal early warning occurs, the sampling module and the cooperative inspection module on the unmanned aerial vehicle are used for repeatedly inspecting the photovoltaic module at the position of the abnormal early warning.
Optionally, the positioning module includes a positioning unit and a transmission unit, and the positioning unit is configured to compare the real-time position of the unmanned aerial vehicle with the inspection point location of the photovoltaic module; the transmission unit is used for transmitting the positioning unit, the server and the cooperative inspection module so as to determine the deviation between the current position of the unmanned aerial vehicle and the set inspection point;
the positioning unit comprises a locator and a data buffer, wherein the locator is configured to acquire the real-time position of the unmanned aerial vehicle; the data buffer is used for buffering the data of the locator;
and the inspection point positions of the photovoltaic modules are set by an operator.
Optionally, the cooperative inspection module includes a ground inspection unit and a cooperative interaction unit, and the ground inspection unit is used for inspecting one side of the ground of the photovoltaic module so as to cooperate with the unmanned aerial vehicle to perform multi-angle inspection on the photovoltaic module;
and the cooperative interaction unit is used for performing cooperative interaction on the ground inspection unit and the unmanned aerial vehicle so as to realize interactive transmission of data.
Optionally, the ground inspection unit includes a ground inspection vehicle, a collecting member and a steering member, and the collecting member is used for collecting one ground side of the photovoltaic module; the steering component is used for adjusting the acquisition angle of the acquisition component; the ground patrol inspection vehicle is used for moving along with the moving track of the unmanned aerial vehicle so as to cooperate with the unmanned aerial vehicle to acquire image or video data on one ground side of the photovoltaic assembly;
wherein, gather the component with turn to the component and all set up on the ground patrols and examines the car.
Optionally, the cooperative interaction unit includes a support platform, a pairing device, an interaction component, and a guiding component, where the pairing device is configured to pair the ground inspection unit and the unmanned aerial vehicle to establish an interaction transmission channel; the interactive component transmits the routing inspection route of the ground routing inspection unit according to the flight path of the unmanned aerial vehicle; the guide component is used for guiding the inspection point position of the unmanned aerial vehicle;
the support platform is for supporting the interaction member, the counterpart and the guide member.
Optionally, the interactive component includes a signal collector and a control instruction transmitter, where the signal collector is configured to capture signals of the unmanned aerial vehicle and the ground inspection unit; and the control instruction transmitter transmits an interactive instruction to the unmanned aerial vehicle and the ground inspection vehicle so as to realize synchronous interaction of the unmanned aerial vehicle and the ground inspection vehicle.
Optionally, supporting platform distributes in photovoltaic power plant's week side, in order to right unmanned aerial vehicle with the unit is patrolled and examined on ground carries out the interaction in coordination.
Optionally, the sampling module includes a sampling unit and a return unit, and the sampling unit is configured to collect image or video data on the surface of the photovoltaic module;
the return unit returns the image or video data collected by the sampling unit to a server or a receiving platform on the ground; the sampling unit comprises a sampling probe and a data memory, and the sampling probe is used for acquiring the image or video data of each photovoltaic assembly; the data storage is used for storing image or video data of the sampling probe.
The beneficial effects obtained by the invention are as follows:
1. the illumination detection module is matched with the sampling module, so that the photovoltaic modules can be inspected according to the power generation states of the photovoltaic modules at all positions, the inspection pertinence is improved, and the inspection and nursing accuracy and efficiency of the photovoltaic modules are promoted;
2. the upper two sides of the photovoltaic assembly are cooperatively patrolled through the cooperation of the cooperative patrolling module and the sampling module, so that the precision of the patrolling and nursing efficiency of the photovoltaic assembly is effectively improved;
3. the positioning module is matched with the cooperative inspection module, so that the cooperative inspection module of the unmanned aerial vehicle and the ground can perform cooperative inspection, the inspection efficiency of the whole inspection process is improved, the comprehensive inspection of the photovoltaic modules at all positions is also considered, and the intelligent nursing capability of the whole photovoltaic power plant is improved;
4. through the cooperation of the evaluation unit and the analysis unit, the abnormity of the photovoltaic module is evaluated more accurately, and the high efficiency and the accuracy of photovoltaic module identification are improved;
5. the unmanned aerial vehicle is guided by the guide component, so that the inspection accuracy and reliability of an inspection route and an inspection point of the unmanned aerial vehicle are improved;
6. through the collection angle to sampling probe and the accurate planning of patrolling and examining the position, promote the accurate nature to the sampling of photovoltaic module, promote unmanned aerial vehicle's the precision of patrolling and examining, still compromise simultaneously and shoot the accurate control of angle, further promoted the reliability of patrolling and examining to the defect of photovoltaic module.
7. The ground inspection unit and the unmanned aerial vehicle are paired through the cooperative interaction unit to establish an interactive transmission channel, and the cooperative coordination capacity of synchronous inspection of the unmanned aerial vehicle and the ground inspection vehicle is improved.
For a better understanding of the features and technical content of the present invention, reference is made to the following detailed description of the invention and accompanying drawings, which are provided for purposes of illustration and description only and are not intended to limit the invention.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic diagram of the overall block of the present invention.
Fig. 2 is a schematic structural diagram of the unmanned aerial vehicle of the present invention for a photovoltaic module.
Fig. 3 is a schematic structural diagram of a collaborative interaction unit according to the present invention.
Fig. 4 is a schematic structural view of the guide member of the present invention.
Fig. 5 is a schematic view of an interaction scene of the ground inspection vehicle and the unmanned aerial vehicle.
Fig. 6 is a schematic structural diagram of the illumination detection module of the present invention.
Fig. 7 is a schematic structural diagram of the ground inspection vehicle of the present invention.
Fig. 8 is a schematic view of a distribution layout of a photovoltaic power plant according to the present invention.
Fig. 9 is a schematic control flow diagram of the routing inspection line of the unmanned aerial vehicle according to the present invention.
Fig. 10 is a schematic diagram of the inspection effect of the photovoltaic module of the present invention.
The reference numbers indicate: 1. a photovoltaic module; 2. an unmanned aerial vehicle; 3. a sampling module; 4. a guide member; 5. an interactive member; 6. a propeller; 7. a body; 8. a photovoltaic test board; 9. a support frame; 10. a ground inspection vehicle; 11. a guide; 12. collecting a probe; 13. a support plate; 14. a crawler belt; 15. a movement drive mechanism; 16. an identification member; 17. a support platform; 18. a rotating seat; 19. a guide rod; 20. a signal transmitter; 21. a pitch adjusting rod; 22. a pitch adjustment drive mechanism.
Detailed Description
The following is a description of embodiments of the present invention with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present invention from the disclosure of the present specification. The invention is capable of other and different embodiments and its several details are capable of modifications and various changes in detail without departing from the spirit and scope of the present invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments will further explain the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
The first embodiment.
According to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, and fig. 10, this embodiment provides an intelligent inspection system applied to a photovoltaic module 1, where the inspection system includes an unmanned aerial vehicle 2 and a server, and further includes a positioning module, a sampling module 3, an illumination detection module, and a cooperative inspection module, and the server is connected to the positioning module, the sampling module 3, the illumination detection module, the cooperative inspection module, and the unmanned aerial vehicle 2, respectively;
the positioning module, the sampling module 3 and the illumination detection module are all arranged on the unmanned aerial vehicle 2 and are detachably connected with the unmanned aerial vehicle 2;
the positioning module is used for positioning the current position of the unmanned aerial vehicle 2 so as to be matched with the illumination detection module to collect the lighting quantity;
the sampling module 3 is used for sampling the photovoltaic module 1 to acquire the stain condition of the surface of the photovoltaic module 1;
the cooperative inspection module is used for inspecting one side of the ground of the photovoltaic module 1 so as to cooperate with the unmanned aerial vehicle 2 to inspect the same inspection point position in multiple angles;
the illumination detection module is used for detecting the lighting power generation amount of the current environment so as to determine the power generation efficiency of each photovoltaic module 1;
the inspection system comprises a processor, the processor is respectively connected with the positioning module, the sampling module 3, the illumination detection module, the cooperative inspection module, the unmanned aerial vehicle 2 and the server in a control mode, and the positioning module, the sampling module 3, the illumination detection module, the cooperative inspection module and the unmanned aerial vehicle 2 are intensively controlled so as to improve the inspection efficiency of the photovoltaic assembly 1 at each position of a photovoltaic power plant;
the illumination detection module is matched with the sampling module 3, so that the photovoltaic module 1 can be inspected according to the power generation state of the photovoltaic module 1 at each position, the inspection pertinence is improved, and the inspection and nursing accuracy and efficiency of each photovoltaic module 1 are promoted;
in addition, the cooperative inspection module is matched with the sampling module 3, so that the upper surface and the ground of the photovoltaic module 1 at each position can be cooperatively inspected, and the inspection and nursing precision of the photovoltaic module 1 is effectively improved;
meanwhile, the positioning module is matched with the cooperative inspection module, so that the unmanned aerial vehicle 2 and the ground cooperative inspection module can perform cooperative inspection, the inspection efficiency of the whole inspection process is improved, and the photovoltaic modules 1 at all positions can be comprehensively inspected;
the unmanned aerial vehicle 2 comprises a main body, a microcontroller, a lift force control unit and a plurality of propellers 6, wherein the lift force control unit is used for controlling the lift force of the propellers 6; the microcontroller is respectively connected with the lift force control unit, the propellers 6 and the server so as to realize accurate control of the routing inspection path and the routing inspection position;
in addition, a clamping seat detachably connected with the sampling module 3, the positioning module and the illumination detection module is arranged on the lower end face of the machine body 7, so that the unmanned aerial vehicle 2 can carry the sampling module 3 and the illumination detection module to patrol in the photovoltaic power plant;
the illumination detection module comprises an illumination acquisition unit and a power generation monitoring unit, and the power generation monitoring unit is used for monitoring the power generation efficiency of each photovoltaic module 1 at each position; the illumination acquisition unit detects the lighting power generation amount of the current environment;
the illumination acquisition unit comprises a supporting seat, a photovoltaic test board 8, an adjusting component and a power parameter tester, wherein the supporting seat is used for supporting the photovoltaic test and the adjusting component; the photovoltaic test board 8 is used for testing the lighting and generating capacity of the current environment to determine a power generation Loss index Loss of the current position; the power parameter tester calculates the power generation efficiency of the photovoltaic test board 8;
wherein the power Generation index Generation of the photovoltaic test board is calculated according to the following formula:
in the formula, P is the maximum output electric power of the photovoltaic test board; p out Is the irradiance; k is the area of the photovoltaic test board; t is a unit of S Is the real-time temperature of the photovoltaic test board; t is 0 The rated working temperature of the photovoltaic test board; convert is a power temperature coefficient of the photovoltaic test board, and the value of the coefficient is determined according to intrinsic parameters of the photovoltaic test board;
acquiring the power generation efficiency Q of the photovoltaic module of the position of the unmanned aerial vehicle of the power generation monitoring unit, and comparing the power generation efficiency Q with the power generation index to obtain the following characteristics:
Q＜D
wherein D is a monitoring threshold, wherein the monitoring threshold D is calculated according to the following formula:
D＝a·Generation+b
wherein a is the area conversion base number, and the value of the area conversion base number is related to the area ratio of the photovoltaic module to the photovoltaic test plate; b is an environmental interference factor, and the value of the environmental interference factor is related to the direct angle between the photovoltaic test board and the sun;
if the power generation efficiency Q of the photovoltaic module 1 at the position of the unmanned aerial vehicle 2 is smaller than a monitoring threshold value D, triggering abnormal early warning; when abnormal early warning occurs, the sampling module 3 and the cooperative inspection module on the unmanned aerial vehicle 2 are used for repeatedly inspecting the photovoltaic module 1 at the position of the abnormal early warning;
in the process of repeatedly inspecting the photovoltaic module 1, the light facing surface of the photovoltaic module 1 at the position and the back surface of the photovoltaic module 1 in cooperation with the inspection module are respectively subjected to image data acquisition through the sampling module 3, so that the abnormal state of the photovoltaic module 1 is accurately obtained, and the inspection precision of the whole system is improved;
the adjusting component comprises an adjusting seat, an adjusting driving mechanism and a light sensor, and the light sensor is used for detecting light in the environment; the photovoltaic test plate 8 is hinged with the adjusting seat so as to adjust the angle of the photovoltaic test plate 8; the adjusting driving mechanism is in driving connection with the adjusting seat to form a driving part; in addition, the adjusting member further includes an adjustment angle detecting part that detects an angle of the driving part; the driving part adjusts the angle of the driving part according to the light intensity of the light sensor;
the abnormal state of the photovoltaic module 1 includes, but is not limited to, the following listed several: the defects of layering, yellowing of a back plate (part of the assembly is visible), yellowing of packaging materials, crushing of battery pieces, grid breakage, yellowing of bus lines, yellowing of battery piece interconnection, corrosion of grid lines, glass breakage, sealing failure, burning marks, dust, shadow, foreign matter shielding, snail marks, damage of an aluminum alloy frame, hot spots (obtained in a picture of an infrared camera) and the like exist on the surface of the photovoltaic assembly 1, and the defects of the back surface of the photovoltaic assembly 1 include: bubbles, connector damage, cable corrosion, junction box damage, micro-inverter failure, etc.;
in this embodiment, defects of the light-facing surface of the photovoltaic module 1 are collected by the sampling module 3; the defects on the back of the photovoltaic module 1 are acquired by the cooperative inspection module;
the sampling module 3 comprises a sampling unit and a return unit, and the sampling unit is used for collecting image or video data of the surface of the photovoltaic module 1;
the return unit returns the image or video data collected by the sampling unit to a server or a receiving platform on the ground; the sampling unit comprises a sampling probe and a data memory, and the sampling probe is used for acquiring images or video data of each photovoltaic module 1; the data memory is used for storing image or video data of the sampling probe;
optionally, the positioning module includes a positioning unit and a transmission unit, and the positioning unit is configured to compare the real-time position of the unmanned aerial vehicle 2 with the inspection point position of the photovoltaic module 1; the transmission unit is used for transmitting the positioning unit, the server and the cooperative inspection module to determine the deviation between the current position of the unmanned aerial vehicle 2 and the set inspection point;
the positioning unit comprises a locator configured to obtain a real-time position of the drone 2 and a data buffer; the data buffer is used for buffering the data of the locator; the inspection point positions of the photovoltaic modules 1 are set by an operator;
in this embodiment, the inspection point location and the inspection height of the unmanned aerial vehicle 2 can be set according to an operator; meanwhile, after the operator sets the patrol height values of the patrol points, the patrol height values of the patrol points are transmitted to the unmanned aerial vehicle 2 through the cooperative patrol module or the server through the processor, so that the unmanned aerial vehicle 2 can patrol the photovoltaic module 1 according to the set patrol height to acquire image data or video data of each patrol point;
dividing the data into positioning point data according to the area of the photovoltaic power plant; meanwhile, the positioning point bit data is transmitted to the positioning module, so that the unmanned aerial vehicle 2 can perform inspection according to the positioning point bit data;
before the photovoltaic power generation field is inspected, map data of the photovoltaic power generation field and the distribution layout of each photovoltaic module 1 are obtained;
determining a routing inspection map through the boundary point data of the distribution layout and the GPS coordinates of the locator; acquiring the patrol map and the GPS coordinate information, and calculating the patrol task amount of a patrol area:
in the formula, lambda is a proportionality coefficient, the value of which is related to the repeat times and precision of routing inspection, and satisfies the following conditions:
λ＝n·d 0 ·Width
in the formula, n is the number of polling times; d 0 A transverse routing distance for unmanned aerial vehicle routing inspection;
area is the Area of patrolling and examining in this region, and its value equals photovoltaic module's actual distribution Area, satisfies:
Area＝(d 0 +L turn )·(Width+L turn )
in the formula, L turn The turning radius of the unmanned aerial vehicle; width is the longitudinal inspection distance of the unmanned aerial vehicle;
optionally, the cooperative inspection module includes a ground inspection unit and a cooperative interaction unit, and the ground inspection unit is configured to inspect one side of the ground of the photovoltaic module 1 to cooperate with the unmanned aerial vehicle 2 to perform multi-angle inspection on the photovoltaic module 1; the cooperative interaction unit is used for performing cooperative interaction on the ground inspection unit and the unmanned aerial vehicle 2 to realize interactive transmission of data;
optionally, the ground inspection unit includes a ground inspection vehicle 10, a collecting member and a steering member, and the collecting member is used for collecting one side of the ground of the photovoltaic module 1; the steering component is used for adjusting the acquisition angle of the acquisition component; the ground patrol vehicle 10 is used for moving along with the moving track of the unmanned aerial vehicle 2 so as to cooperate with the unmanned aerial vehicle 2 to acquire image or video data on one ground side (i.e. the side facing the ground) of the photovoltaic assembly 1;
the acquisition component comprises an acquisition probe 12 and a data marker, wherein the acquisition probe 12 is used for acquiring image data on one side of the back of the photovoltaic module 1 so as to obtain image or video data of a connector, a cable, a junction box and a micro inverter of the photovoltaic module 1; wherein the data marker is used for marking each image data or video data so that the image data or video data collected by the collecting probe 12 at each collecting position can be marked; the data marker marks parameters such as positions and time of the image data or the video data so as to conveniently search the image data or the video data; it should be noted that the data marker may also use an automatic labeling program for automatic labeling, which is well known to those skilled in the art and thus will not be described in detail;
the steering component comprises a steering seat, a steering driving mechanism and a steering detection piece, and the steering seat is used for adjusting the position of the acquisition probe 12; the steering detection piece is used for detecting the rotation angle of the steering seat; the steering driving mechanism is configured to be in driving connection with the steering seat, so that the acquisition probe 12 can acquire image or video data of one side of each photovoltaic module 1 facing the ground;
meanwhile, the collecting component and the steering component are both arranged on the ground patrol vehicle 10, and are driven by the ground patrol vehicle 10 to patrol one side of each photovoltaic module 1 facing the ground;
in addition, the ground inspection vehicle 10 includes a crawler 14, a support plate 13, a movement driving mechanism 15, and an angle adjusting member, the support plate 13 is used for supporting the steering member and the collecting member, wherein the support plate 13 is disposed at one side of the crawler 14; the angle adjustment means is used to adjust the steering of the track 14 to adjust the direction of travel; the moving driving mechanism 15 is used for driving a driving wheel to drive the crawler 14 to rotate so as to drive the traveling speed of the crawler 14; the tracks 14 are preferably all-terrain tracks 14 to suit different terrain needs; wherein, the steering seat is arranged on the upper end surface of the supporting plate 13, so that the acquisition probe 12 can be driven by the rotating component to realize the accurate rotation of the sampling probe;
in addition, the ground inspection vehicle 10 further comprises a recognition component 16, wherein the recognition component 16 is used for recognizing the traveling direction so as to adjust the moving direction for precise control; the recognition means 16 includes road condition recognition probes provided at the front and rear sides of the traveling direction of the support plate 13 and a guide 11; the guider 11 receives the moving data of the unmanned aerial vehicle 2 and the data of the cooperative interaction unit so as to guide the advancing direction of the patrol vehicle by matching with the identification probe; the identification and control of the travel route by the identification probe are well known to those skilled in the art, and those skilled in the art can query a relevant technical manual to know the technology, so that details are not repeated in this embodiment;
optionally, the cooperative interaction unit includes a support platform 17, a pairing device, an interaction component 5 and a guiding component 4, where the pairing device is configured to pair the ground inspection unit and the unmanned aerial vehicle 2 to establish an interaction transmission channel; the interactive component 5 transmits the flight path of the unmanned aerial vehicle 2 and the routing inspection route of the ground routing inspection unit; the guide member 4 is used for guiding the inspection point of the unmanned aerial vehicle 2; the support platform 17 is used for supporting the interaction member 5, the counterpart and the guide member 4;
optionally, the supporting platforms 17 are distributed around the photovoltaic power plant to cooperatively interact the unmanned aerial vehicle 2 and the ground inspection unit;
the ground inspection unit and the unmanned aerial vehicle 2 are paired through the cooperative interaction unit to establish an interactive transmission channel, so that the cooperative coordination capability of synchronous inspection of the unmanned aerial vehicle 2 and the inspection vehicle is improved;
optionally, the interactive component 5 includes a signal collector and a control instruction transmitter, where the signal collector is configured to capture signals of the unmanned aerial vehicle 2 and the ground inspection unit; the control instruction transmitter transmits an interactive instruction to the unmanned aerial vehicle 2 and the ground patrol vehicle 10 so as to realize synchronous interaction of the unmanned aerial vehicle 2 and the ground patrol vehicle 10;
wherein the guiding member 4 comprises a guiding rod 19, a signal emitter 20, a pitch adjusting rod 21, a height detector, a rotating seat 18, a rotating driving mechanism and a pitch adjusting driving mechanism, the signal emitter 20 is arranged on the guiding rod 19 and guides the unmanned aerial vehicle 2;
the rotating seat 18 is hinged with the upper end face of the supporting platform 17 and is driven by the rotating driving mechanism along the hinged position to adjust the horizontal direction guide of the guide rod 19; wherein, the rotation driving mechanism is connected with the rotation seat 18 in a driving way to form a driving part;
one end of the guide rod 19 is hinged with the upper end face of the rotating seat 18, and the other end of the guide rod extends out towards one side far away from the hinged position; one end of the pitch adjusting rod 21 is hinged with the rod body of the guide rod 19, and the other end of the pitch adjusting rod is hinged with the upper end face of the rotating seat 18; the pitch adjusting driving mechanism is in driving connection with the pitch adjusting rod 21 to form a pitch adjusting part so as to adjust the pitch height of the guide rod 19;
the guiding line of the signal emitter 20 is based on data of an inspection line, and the guiding device 11 is matched with the guiding rod 19, the rotating part and the pitching adjusting part to realize accurate guiding of the unmanned aerial vehicle 2;
the unmanned aerial vehicle 2 is guided by the guide component 4, so that the inspection accuracy and reliability of the inspection route and the inspection point of the unmanned aerial vehicle 2 are improved;
the inspection system further comprises an evaluation module, wherein the evaluation module is used for evaluating the image or video data of the sampling module 3 and the cooperative inspection module to determine the current state of the photovoltaic module 1;
the evaluation module is connected with the processor and is based on the centralized control of the processor so as to improve the evaluation efficiency and the evaluation precision of the whole system; the evaluation module comprises an analysis unit and an evaluation unit, and the analysis unit analyzes the image or video data of the sampling module 3 and the cooperative inspection module to form an analysis result; the evaluation unit evaluates according to the analysis result of the analysis unit so as to prompt an operator to nurse or replace the photovoltaic assembly 1;
the analysis unit acquires the image or video data of the sampling module 3 and the cooperative inspection module, grays the image, and detects the edge of the photovoltaic module 1 according to the obtained grayscale image to analyze the defects of the photovoltaic module 1, such as cracks and the like;
the embodiment provides an iterative threshold selection algorithm for threshold segmentation to obtain crack data;
the processing function of the gray threshold segmentation is as follows:
where f (x, y) is the pixel value at a certain position in the original image; g (x, y) is the pixel value of the binary image at the position after processing;
step 1: traversing the image, finding the maximum gray value Tmax and the minimum gray value Tmin of the image, calculating the average value of the Tmax and the minimum gray value Tmin, and assigning the average value to T 0 As an initial global threshold value, the threshold value,
step 2: by T 0 The threshold value divides the image into two parts, the gray level average value of each part is calculated respectively and recorded as k1 and k2, and the global threshold value T1 is updated:
repeating the above two steps until the size of T tends to be stable (i.e. the difference between Ti +1 and Ti is less than a certain value);
a person skilled in the art may also adopt other manners to obtain the abnormality on the photovoltaic module, which is not described herein again;
in addition, the evaluation unit evaluates according to the agenda area and the anomaly depth, wherein the anomaly depth on the photovoltaic module is calculated according to the following formula:
wherein L represents a crack length; a is the area of the photovoltaic module; wherein, the crack length is expressed by the number of crack pixel points in the contour image; the area of the preserved egg is represented by the number of pixel points of the whole egg after the image binarization;
through the evaluation unit with the cooperation of analysis unit for to photovoltaic module's unusual aassessment gets more accurate, promotes the high efficiency and the precision of photovoltaic module discernment.
The second embodiment.
The present embodiment should be understood to include at least all the features of any one of the foregoing embodiments, and further modified based on the following descriptions, and as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, and fig. 10, the present invention further includes calculating the inspection area of the unmanned aerial vehicle to determine the route plan for the inspection of the unmanned aerial vehicle:
selecting the minimum external rectangle of the photovoltaic module so as to achieve the most effective routing inspection effect with the minimum cost;
selecting the width and area of the central rectangle as standard values, and selecting the rectangle satisfying the following conditions:
wherein W is the width of the central rectangle; long (j) is the width of the rectangle to be determined; region is the area of the central rectangle; ZOOM (j) is the area of the rectangle to be determined; r is 0 、r 1 、r 2 And r 3 Is a ratio value that can be set manually;
of all the vertices of the rectangle, the outermost four vertices a (x) 1 ,y 1 )、b(x 2 ,y 2 )、c(x 3 ,y 3 )、d(x 4 ,y 4 ) A large quadrangle abcd can be formed; wherein, a (x) 1 ,y 1 )、b(x 2 ,y 2 )、c(x 3 ,y 3 )、d(x 4 ,y 4 ) Is the four outermost points in the vertex of the inspection area,
calculating the inclination angle of the photovoltaic assembly and the distance between the image center point and the center line of the photovoltaic assembly, wherein the formula is as follows:
in the formula, e (x) 5 ,y 5 )、f(x 6 ,y 6 ) Is the midpoint of the line segments ad, bc, i.e., the centerline of the rectangle abcd;
wherein k is an inclination angle, and D is a distance between a sampling center point and a center line of the photovoltaic module;
in addition, converting into a navigation coordinate system of the sampling probe and the unmanned aerial vehicle, wherein alpha is the inclination angle of the photovoltaic module, namely the inclination angle with the direction of the sun, and beta is the yaw angle of the unmanned aerial vehicle; gamma is the offset angle of the sampling probe, and Distance is the horizontal Distance between the unmanned aerial vehicle and the sampling central point of the photovoltaic module; the yaw angle beta of the unmanned aerial vehicle and the offset angle lambda of the acquisition probe are easily obtained from the unmanned aerial vehicle;
the inclination angle ω of the center line is:
ω＝α-(β+γ)
in order to make sampling probe with photovoltaic module's inclination is 0, can adjust sampling probe's on the unmanned aerial vehicle skew angle gamma, satisfy:
γ＝-(β-α)＝α-β
in conjunction with the above two formulas, there is:
ω＝α-(β+γ)＝arctan(k)
for horizontal Distance, the calculation is made according to the following equation:
in the formula, H is the flying height of the unmanned aerial vehicle, and the value of H is set by an operator according to the actual situation; img _ h is the sampling pixel height of the sampling probe, is determined with the intrinsic parameters of the sampling probe or is set according to an operator, and represents the field of view of the sampling probe and is related to the intrinsic parameters of the selected sampling probe;
through right sampling probe's collection angle with patrol and examine the accurate planning of position, promote the accuracy nature to the sampling of photovoltaic module, promote unmanned aerial vehicle's the precision of patrolling and examining, still compromise the control of shooting the angle simultaneously, also further promoted the reliability of patrolling and examining to the defect of photovoltaic module.
The disclosure is only a preferred embodiment of the invention, and is not intended to limit the scope of the invention, so that all equivalent technical changes made by using the contents of the specification and the drawings are included in the scope of the invention, and further, the elements thereof can be updated as the technology develops.
Claims (8)
1. The intelligent inspection system is applied to the photovoltaic module and comprises an unmanned aerial vehicle and a server, and is characterized by further comprising a positioning module, a sampling module, an illumination detection module and a cooperative inspection module, wherein the server is respectively connected with the positioning module, the sampling module, the illumination detection module, the cooperative inspection module and the unmanned aerial vehicle; the positioning module, the sampling module and the illumination detection module are all arranged on the unmanned aerial vehicle and are detachably connected with the unmanned aerial vehicle;
the positioning module is used for positioning the current position of the unmanned aerial vehicle so as to be matched with the illumination detection module to collect the lighting quantity;
the sampling module is used for sampling the photovoltaic assembly to acquire the stain condition of the surface of the photovoltaic assembly;
the cooperative inspection module is used for inspecting one side of the ground of the photovoltaic module so as to cooperate with the unmanned aerial vehicle to inspect the same inspection point at multiple angles;
the illumination detection module is used for detecting the lighting and generating capacity of the current environment so as to determine the generating efficiency of each photovoltaic module;
the illumination detection module comprises an illumination acquisition unit and a power generation monitoring unit, and the power generation monitoring unit is used for monitoring the power generation efficiency of each photovoltaic module at each position; the illumination acquisition unit detects the lighting power generation amount of the current environment;
the illumination acquisition unit comprises a supporting seat, a photovoltaic test board, an adjusting component and a power parameter tester, wherein the supporting seat is used for supporting the photovoltaic test and the adjusting component; the photovoltaic test board is used for testing the lighting power generation amount of the current environment so as to determine the power generation Loss index Loss of the current position; the power parameter tester calculates the power generation efficiency of the photovoltaic test board;
wherein the power Generation index Generation of the photovoltaic test panel is calculated according to the following formula:
in the formula, P is the maximum output electric power of the photovoltaic test board; p out Is the irradiance; k is the area of the photovoltaic test board; t is S Is the real-time temperature of the photovoltaic test board; t is 0 The rated working temperature of the photovoltaic test board; convert is a power temperature coefficient of the photovoltaic test board, and the value of the coefficient is determined according to intrinsic parameters of the photovoltaic test board;
acquiring the power generation efficiency Q of the photovoltaic module of the position of the unmanned aerial vehicle of the power generation monitoring unit, and comparing the power generation efficiency Q with the power generation index to obtain the following characteristics:
Q＜D
wherein D is a monitoring threshold, wherein the monitoring threshold D is calculated according to the following formula:
D＝a·Generation+b
wherein a is the area conversion base number, and the value of the area conversion base number is related to the area ratio of the photovoltaic module to the photovoltaic test plate; b is an environmental interference factor, and the value of the environmental interference factor is related to the direct angle between the photovoltaic test board and the sun;
if the power generation efficiency Q of the photovoltaic module at the position of the unmanned aerial vehicle is smaller than a monitoring threshold value D, triggering abnormal early warning; when abnormal early warning occurs, the sampling module and the cooperative inspection module on the unmanned aerial vehicle are used for repeatedly inspecting the photovoltaic module at the position of the abnormal early warning.
2. The intelligent inspection system applied to the photovoltaic module according to claim 1, wherein the positioning module comprises a positioning unit and a transmission unit, and the positioning unit is used for comparing the real-time position of the unmanned aerial vehicle with the inspection point position of the photovoltaic module; the transmission unit is used for transmitting the positioning unit, the server and the cooperative inspection module so as to determine the deviation between the current position of the unmanned aerial vehicle and the set inspection point;
the positioning unit comprises a locator and a data buffer, wherein the locator is configured to acquire the real-time position of the unmanned aerial vehicle; the data buffer is used for buffering the data of the locator;
and the inspection point positions of the photovoltaic modules are set by an operator.
3. The intelligent inspection system applied to photovoltaic modules according to claim 2, wherein the cooperative inspection module comprises a ground inspection unit and a cooperative interaction unit, the ground inspection unit is used for inspecting one side of the ground of the photovoltaic modules so as to cooperate with the unmanned aerial vehicle to perform multi-angle inspection on the photovoltaic modules;
and the cooperative interaction unit is used for performing cooperative interaction on the ground inspection unit and the unmanned aerial vehicle so as to realize interactive transmission of data.
4. The intelligent inspection system applied to photovoltaic modules according to claim 3, wherein the ground inspection unit comprises a ground inspection vehicle, a collecting component and a steering component, and the collecting component is used for collecting one ground side of the photovoltaic modules; the steering component is used for adjusting the acquisition angle of the acquisition component; the ground patrol inspection vehicle is used for moving along with the moving track of the unmanned aerial vehicle so as to cooperate with the unmanned aerial vehicle to acquire image or video data on one ground side of the photovoltaic assembly;
wherein, gather the component with turn to the component and all set up on the ground patrols and examines the car.
5. The intelligent inspection system applied to photovoltaic modules according to claim 4, wherein the cooperative interaction unit comprises a support platform, a pair, an interaction component and a guide component, wherein the pair is used for pairing the ground inspection unit and the unmanned aerial vehicle to establish an interaction transmission channel; the interactive component transmits the routing inspection route of the ground routing inspection unit according to the flight path of the unmanned aerial vehicle; the guide component is used for guiding the inspection point position of the unmanned aerial vehicle;
the support platform is used for supporting the interaction member, the counterpiece and the guide member.
6. The intelligent inspection system applied to photovoltaic modules according to claim 5, wherein the interactive components comprise a signal collector and a control instruction transmitter, the signal collector is used for capturing signals of the unmanned aerial vehicle and the ground inspection unit; and the control instruction transmitter transmits the interactive instruction to the unmanned aerial vehicle and the ground patrol vehicle so as to realize synchronous interaction of the unmanned aerial vehicle and the ground patrol vehicle.
7. The intelligent inspection system applied to photovoltaic modules according to claim 6, wherein the supporting platforms are distributed around the periphery of a photovoltaic power plant so as to cooperatively interact the unmanned aerial vehicle and the ground inspection unit.
8. The intelligent inspection system applied to photovoltaic modules according to claim 7, wherein the sampling module comprises a sampling unit and a return unit, and the sampling unit is used for collecting image or video data of the surface of the photovoltaic module;
the return unit returns the image or video data collected by the sampling unit to a server or a ground receiving platform; the sampling unit comprises a sampling probe and a data memory, and the sampling probe is used for acquiring the image or video data of each photovoltaic assembly; the data storage is used for storing image or video data of the sampling probe.
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